Fixed an XBee configuration issue that appears to be an undocumented timing constraint in AT command mode. Inserted 100ms delay between each AT command.

NameOfTheDragon · NameOfTheDragon · commit c86eb5b9a947 · 2019-11-28T14:01:35.000Z
diff --git a/TA.NexDome.Rotator/TA.NexDome.Rotator.ino b/TA.NexDome.Rotator/TA.NexDome.Rotator.ino
@@ -22,6 +22,7 @@ void onMotorStopped();
 auto stepGenerator = CounterTimer1StepGenerator();
 auto settings = PersistentSettings::Load();
 auto stepper = MicrosteppingMotor(MOTOR_STEP_PIN, MOTOR_ENABLE_PIN, MOTOR_DIRECTION_PIN, stepGenerator, settings.motor);
+//std::ohserialstream xout(Serial1);
 auto& xbeeSerial = Serial1;
 auto& host = Serial;
 std::string hostReceiveBuffer;
diff --git a/TA.NexDome.Rotator/TA.NexDome.Rotator.vcxproj b/TA.NexDome.Rotator/TA.NexDome.Rotator.vcxproj
diff --git a/TA.NexDome.Rotator/XBeeConfigureState.cpp b/TA.NexDome.Rotator/XBeeConfigureState.cpp
@@ -5,6 +5,9 @@
 
 void XBeeConfigureState::OnTimerExpired()
 	{
+#ifdef DEBUG_XBEE_CONFIG
+	std::cout << " timeout" << std::endl;
+#endif
 	machine.ChangeState(new XBeeStartupState(machine));
 	}
 
@@ -24,9 +27,11 @@ bool XBeeConfigureState::sendNextAtCommand()
 		if (ch == 0) return false;
 		if (ch == ',')
 		{
+
 #ifdef DEBUG_XBEE_CONFIG
 			std::cout << message;
 #endif
+			delay(XbeeInterAtCommandDelay);
 			message.push_back('\r');
 			machine.sendToLocalXbee(message);
 			timer.SetDuration(XBEE_AT_COMMAND_TIMEOUT);
diff --git a/TA.NexDome.Rotator/XBeeShutterOnlineState.cpp b/TA.NexDome.Rotator/XBeeShutterOnlineState.cpp
@@ -1,9 +1,9 @@
-// 
-// 
-// 
+//
+//
+//
 
 #include "XBeeShutterOnlineState.h"
-#include "XBeeApiDetectShutterState.h"
+#include "XBeeStartupState.h"
 #include "CommandProcessor.h"
 
 void XBeeShutterOnlineState::OnEnter()
@@ -21,7 +21,7 @@ re-established and confirmed.
 */
 void XBeeShutterOnlineState::OnTimerExpired()
 	{
-	machine.ChangeState(new XBeeApiDetectShutterState(machine));
+	machine.ChangeState(new XBeeStartupState(machine));
 	}
 
 
@@ -33,7 +33,6 @@ void XBeeShutterOnlineState::OnApiRx64FrameReceived(const std::vector<byte>& pay
 	const auto msgStart = payload.begin() + 10;
 	const auto msgEnd = payload.end();
 	const std::string rxMessage(msgStart, msgEnd);
-	std::cout << "rx " << rxMessage << std::endl;
 	if (rxMessage == XBEE_HELLO_MESSAGE)
 		{
 		machine.SetDestinationAddress(payload);
diff --git a/TA.NexDome.Shutter/TA.NexDome.Shutter.vcxproj b/TA.NexDome.Shutter/TA.NexDome.Shutter.vcxproj
@@ -101,7 +101,7 @@
       <AdditionalIncludeDirectories>$(ProjectDir)..\TA.NexDome.Shutter;$(ProjectDir)..\SharedCode;F:\OneDrive\Documents\Arduino\libraries\ArduinoSTL\src;$(ProjectDir)..\XBeeApi;$(ProjectDir)..\XBeeStatemachine;$(ProjectDir)..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\arduino\avr\libraries\EEPROM\src;$(ProjectDir)..\Timer;$(ProjectDir)..\AdvancedStepper;$(ProjectDir)..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\arduino\avr\cores\arduino;$(ProjectDir)..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\arduino\avr\variants\leonardo;$(ProjectDir)..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\tools\avr\avr\include;$(ProjectDir)..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\tools\avr\avr\include\avr;$(ProjectDir)..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\tools\avr\lib\gcc\avr\4.9.2\include;$(ProjectDir)..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\tools\avr\lib\gcc\avr\4.9.2\include;$(ProjectDir)..\..\..\..\..\..\Program Files (x86)\Arduino\hardware\tools\avr\lib\gcc\avr\4.9.3\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
       <ForcedIncludeFiles>$(ProjectDir)__vm\.TA.NexDome.Shutter.vsarduino.h;%(ForcedIncludeFiles)</ForcedIncludeFiles>
       <WholeProgramOptimization>false</WholeProgramOptimization>
-      <PreprocessorDefinitions>__AVR_atmega32u4__;__AVR_ATmega32U4__;__AVR_ATmega32u4__;DEBUG_XBEE_API;DEBUG_XBEE_CONFIG;F_CPU=16000000L;ARDUINO=108010;ARDUINO_AVR_LEONARDO;ARDUINO_ARCH_AVR;USB_VID=0x2341;USB_PID=0x8036;__cplusplus=201103L;_VMICRO_INTELLISENSE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <PreprocessorDefinitions>__AVR_atmega32u4__;__AVR_ATmega32U4__;__AVR_ATmega32u4__;F_CPU=16000000L;ARDUINO=108010;ARDUINO_AVR_LEONARDO;ARDUINO_ARCH_AVR;USB_VID=0x2341;USB_PID=0x8036;__cplusplus=201103L;_VMICRO_INTELLISENSE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
     </ClCompile>
     <Link>
       <GenerateDebugInformation>true</GenerateDebugInformation>
@@ -155,7 +155,7 @@
   </ImportGroup>
   <ProjectExtensions>
     <VisualStudio>
-      <UserProperties config.Debug.customdebug_leonardo_debugger_type="universal" debug.view.FreeMemory="" debug.view.AnalogPins="1" arduino.upload.port="COM10" VM_ADDITIONAL_PREPROC="DEBUG_XBEE_API;DEBUG_XBEE_CONFIG" />
+      <UserProperties config.Debug.customdebug_leonardo_debugger_type="universal" debug.view.FreeMemory="" debug.view.AnalogPins="1" arduino.upload.port="COM10" VM_ADDITIONAL_PREPROC="" />
     </VisualStudio>
   </ProjectExtensions>
 </Project>
diff --git a/TA.NexDome.Shutter/XBeeConfigureState.cpp b/TA.NexDome.Shutter/XBeeConfigureState.cpp
@@ -31,6 +31,7 @@ bool XBeeConfigureState::sendNextAtCommand()
 #ifdef DEBUG_XBEE_CONFIG
 			std::cout << message;
 #endif
+			delay(XbeeInterAtCommandDelay);
 			message.push_back('\r');
 			machine.sendToLocalXbee(message);
 			timer.SetDuration(XBEE_AT_COMMAND_TIMEOUT);
diff --git a/TA.NexDome.Shutter/XBeeOnlineState.cpp b/TA.NexDome.Shutter/XBeeOnlineState.cpp
@@ -46,7 +46,9 @@ void XBeeOnlineState::OnApiRx64FrameReceived(const std::vector<byte>& payload)
 	const auto msgStart = payload.begin() + 10;
 	const auto msgEnd = payload.end();
 	const std::string rxMessage(msgStart, msgEnd);
+#ifdef DEBUG_XBEE_API
 	std::cout << "Rx64 " << rxMessage << std::endl;
+#endif
 	// payload[10] is the first byte of the received data
 	if (length > 10 && payload[10] == '@')
 		{
diff --git a/Timer/Timer.h b/Timer/Timer.h
@@ -15,10 +15,10 @@
 #endif
 
 /*
-	A simple timer that works correctly with Arduino's 	millis() function and 
+	A simple timer that works correctly with Arduino's 	millis() function and
 	unsigned arithmetic, provided the timed interval is short compared to the
 	maximum value of millis(), which is about 49 days.
-	
+
 	On an Arduino, millis() returns a 32-bit unsigned
 	integer, with maximum value of 4,294,967,295 (2^32 - 1). This represents
 	a duration of about 49 days, after which the value of millis() will wrap
@@ -61,8 +61,11 @@ class Timer
 	Duration Remaining() const;
 	bool Enabled() const;
 	void Stop();
+	static constexpr Duration Milliseconds(unsigned long millis) { return Duration(millis); }
+	static constexpr Duration Milliseconds(unsigned millis) { return Duration(millis); }
+	static constexpr Duration Milliseconds(int millis) { return Duration(unsigned(millis)); }
 	static constexpr Duration Seconds(float seconds) { return Duration(1000 * seconds); }
-	static constexpr Duration Minutes(float minutes) { return Duration(Seconds(60) * minutes); }
+	static constexpr Duration Minutes(float minutes) { return Duration(Seconds(60 * minutes)); }
 private:
 	Duration startedAt;
 	Duration interval;
diff --git a/XBeeStateMachine/XBeeStatemachine.h b/XBeeStateMachine/XBeeStatemachine.h
@@ -7,17 +7,17 @@
 #include <XBeeApi.h>
 #include <Timer.h>
 
-
-#define XBEE_AT_GUARD_TIME (1200UL)				// Wait time before sending AT attention string and receiving "OK"
-#define XBEE_AT_COMMAND_TIMEOUT (5000UL)		// Time to wait for "OK" response to AT command before giving up
-#define XBEE_REMOTE_HANDSHAKE_TIMEOUT (3000UL)	// Maximum time to wait for rotator to acknowledge the hello message.
-#define XBEE_ASSOCIATE_TIMEOUT (20000UL)		// Maximum time to wait for shutter to associate with a coordinator.
-#define XBEE_DETECT_SHUTTER_TIMEOUT (60000UL)	// Maximum time to wait for the shutter to say hello.
-#define XBEE_HEARTBEAT_INTERVAL (8000UL)		// How often the shutter sends a 'heartbeat' message
-#define XBEE_NO_HEARTBEAT_TIMEOUT (	17000UL)	// How long to wait for a heartbeat before assuming the link is down
-#define XBEE_HELLO_MESSAGE "Yoohoo"				// A retro shout-out to FidoNet era mailer called dBridge.
-#define XBEE_HELLO_ACK "2U2"				// (yes I am old enough to remember FidoNet).
-#define XBEE_ATTENTION "+++"					// Guard Time + Attention + Guard Time reverts XBee to AT Command Mode
+constexpr Duration XBEE_AT_GUARD_TIME = Timer::Milliseconds(1200);	// Wait time before sending AT attention string and receiving "OK"
+constexpr Duration XBEE_AT_COMMAND_TIMEOUT = Timer::Seconds(5);				// Time to wait for "OK" response to AT command before giving up
+constexpr Duration XbeeInterAtCommandDelay = Timer::Milliseconds(100);
+constexpr Duration XBEE_REMOTE_HANDSHAKE_TIMEOUT = Timer::Seconds(3);		// Maximum time to wait for rotator to acknowledge the hello message.
+constexpr Duration XBEE_ASSOCIATE_TIMEOUT = Timer::Seconds(20);				// Maximum time to wait for shutter to associate with a coordinator.
+constexpr Duration XBEE_DETECT_SHUTTER_TIMEOUT = Timer::Seconds(60);		// Maximum time to wait for the shutter to say hello.
+constexpr Duration XBEE_HEARTBEAT_INTERVAL = Timer::Seconds(8);				// How often the shutter sends a 'heartbeat' message
+constexpr Duration XBEE_NO_HEARTBEAT_TIMEOUT = Timer::Seconds(17);			// How long to wait for a heartbeat before assuming the link is down
+#define XBEE_HELLO_MESSAGE "Yoohoo"	// A retro shout-out to FidoNet era mailer called dBridge.
+#define XBEE_HELLO_ACK "2U2"		// (yes I am old enough to remember FidoNet).
+#define XBEE_ATTENTION "+++"		// Guard Time + Attention + Guard Time reverts XBee to AT Command Mode
 
 class IXBeeState;
 

Original file line number	Diff line number	Diff line change
`@@ -5,6 +5,9 @@`
`5`	`5`
`6`	`6`	`void XBeeConfigureState::OnTimerExpired()`
`7`	`7`	`{`
	`8`	`+#ifdef DEBUG_XBEE_CONFIG`
	`9`	`+ std::cout << " timeout" << std::endl;`
	`10`	`+#endif`
`8`	`11`	`machine.ChangeState(new XBeeStartupState(machine));`
`9`	`12`	`}`
`10`	`13`
`@@ -24,9 +27,11 @@ bool XBeeConfigureState::sendNextAtCommand()`
`24`	`27`	`if (ch == 0) return false;`
`25`	`28`	`if (ch == ',')`
`26`	`29`	`{`
	`30`	`+`
`27`	`31`	`#ifdef DEBUG_XBEE_CONFIG`
`28`	`32`	`std::cout << message;`
`29`	`33`	`#endif`
	`34`	`+ delay(XbeeInterAtCommandDelay);`
`30`	`35`	`message.push_back('\r');`
`31`	`36`	`machine.sendToLocalXbee(message);`
`32`	`37`	`timer.SetDuration(XBEE_AT_COMMAND_TIMEOUT);`